Vehicle lamp controller, vehicle lamp system, and vehicle lamp control method

ABSTRACT

A vehicle lamp controller, a vehicle lamp system, and a vehicle lamp control method are provided. The vehicle lamp system includes an acceleration sensor, a vehicle lamp, and the vehicle controller. The controller includes a receiver configured to receive an acceleration information detected by the acceleration sensor, a control unit configured to derive a vehicle longitudinal direction acceleration and a vehicle vertical direction acceleration from the acceleration information, and to generate a control signal for instructing an adjustment of an optical axis of the vehicle lamp, based on a variation in a ratio between a temporal change amount of the vehicle longitudinal direction acceleration and a temporal change amount of the vehicle vertical direction acceleration during at least one of an acceleration and a deceleration of a vehicle, and a transmitter configured to transmit the control signal to an optical axis adjusting portion of the vehicle lamp.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a Reissue Divisional of U.S. application Ser. No.15/265,289 filed Sep. 14, 2016, which is an Application for Reissue ofU.S. Pat. No. 8,838,343 issued on Sep. 16, 2014, which was filed as U.S.patent application Ser. No. 13/281,075 on Oct. 25, 2011, which claimspriority from Japanese Patent Application No. 2010-239736 filed on Oct.26, 2010 and Japanese Patent Application No. 2011-153592 filed on Jul.12, 2011, the entire contents of which are incorporated herein byreference. This application is also a Reissue Application for U.S. Pat.No. 8,838,343 issued on Sep. 16, 2014, which was filed as U.S. patentapplication Ser. No. 13/281,075 on Oct. 25, 2011.

FIELD OF INVENTION

The present invention relates to a vehicle lamp controller, a vehiclelamp system, and a vehicle lamp control method.

DESCRIPTION OF RELATED ART

In an auto-leveling control, a position of an optical axis of a vehicleheadlamp is automatically adjusted in accordance with an inclinationangle of a vehicle in the pitch direction to change the irradiatingdirection of the headlamp. Generally, in the auto-leveling control, avehicle height sensor is used as a vehicle inclination detection device,and the optical axis position of the headlamp is adjusted in accordancewith the pitch angle of the vehicle detected by the vehicle heightsensor. According to other related art, the inclination detection devicemay include a gravity sensor (see, e.g., JP 2000-085459 A), athree-dimensional gyro sensor for detecting the inclination angle of thevehicle with respect to a horizontal plane (see, e.g., JP 2004-314856A), an inclinometer for detecting the inclination angle of the vehiclewith respect to the gravitational direction of the vehicle (see, e.g.,JP 2001-341578 A), or an acceleration sensor for detecting the gravityacceleration of the vehicle (see, e.g., JP 2009-126268 A).

By using an acceleration sensor such as a gravity sensor or athree-dimensional gyro sensor as a vehicle inclination detection device,as compared with a vehicle height sensor, an auto-leveling system can beprovided at low cost and in a weight saving manner.

In an auto-leveling control using an acceleration sensor, an inclinationangle detected by the acceleration sensor is an inclination angle of avehicle with respect to a horizontal plane, including an inclinationangle of the road surface with respect to the horizontal plane and aninclination angle of the vehicle with respect the road surface. Theinclination angle used in the auto-leveling control is the inclinationangle of the vehicle with respect the road surface. Therefore, in theauto-leveling control using the acceleration sensor, information on theinclination angle of the vehicle with respect the road surface isextracted from the inclination angle of the road surface with respect tothe horizontal plane.

BRIEF SUMMARY

Illustrative aspects of the present invention provide, for anauto-leveling control of a vehicle lamp using an acceleration sensor, anew technology for extracting information on an inclination angle of avehicle with respect to a road surface from a detection by theacceleration sensor.

According to an illustrative aspect of the present invention, a vehiclelamp controller is provided. The controller includes a receiverconfigured to receive an acceleration information detected by anacceleration sensor, a control unit configured to derive a vehiclelongitudinal direction acceleration and a vehicle vertical directionacceleration from the acceleration information, and to generate acontrol signal for instructing an adjustment of an optical axis of avehicle lamp, based on a variation in a ratio between a temporal changeamount of the vehicle longitudinal direction acceleration and a temporalchange amount of the vehicle vertical direction acceleration during atleast one of an acceleration and a deceleration of a vehicle, and atransmitter configured to transmit the control signal to an optical axisadjusting portion of the vehicle lamp.

According to another illustrative aspect of the present invention, avehicle lamp system is provided. The vehicle lamp system includes avehicle lamp having an adjustable optical axis, an acceleration sensor,and the controller described above.

According to yet another illustrative aspect of the present invention, avehicle lamp control method is provided. The method includes obtainingan acceleration information detected by an acceleration sensor, derivinga vehicle longitudinal direction acceleration and a vehicle verticaldirection acceleration from the acceleration information, calculating avariation in a ratio between a temporal change amount of the vehiclelongitudinal direction acceleration and a temporal change amount of thevehicle vertical direction acceleration during at least one of anacceleration and a deceleration of a vehicle, and adjusting an opticalaxis of a vehicle lamp based on the ratio.

Other aspects and advantages of the invention will be apparent from thefollowing description, the drawings and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic vertical sectional view of a vehicle lamp systemaccording to an first exemplary embodiment of the present invention;

FIG. 2 is a functional block diagram illustrating an operation linkagebetween an irradiation controller of a headlamp and a vehicle controllerof a vehicle;

FIGS. 3A and 3B are diagrams illustrating a relationship between adirection of a motion acceleration vector of a vehicle and a vehicleattitude angle;

FIG. 4 is a graph showing a relationship between a vehicle longitudinaldirection acceleration and a vehicle vertical direction acceleration;

FIG. 5 is a flow chart of the auto-leveling control of a vehicle lampsystem according to the first exemplary embodiment;

FIG. 6 is a diagram to explain the auto-leveling control of a vehiclelamp system according to an third exemplary embodiment of the presentinvention; and

FIG. 7 is a flow chart of the auto-leveling control of the vehicle lampsystem according to the third exemplary embodiment.

DETAILED DESCRIPTION

Hereinafter, exemplary embodiments of the present invention will bedescribed in detail. However, the following exemplary embodiments do notlimit the scope of the claimed invention. Features of the followingexemplary embodiments and combinations of the features described beloware not necessarily essential to the present invention.

FIG. 1 is a schematic vertical sectional view of the internal structureof a vehicle lamp system according to an first exemplary embodiment ofthe invention. A vehicle lamp system 200 according to this exemplaryembodiment is a light distribution variable headlamp system including apair of right and left symmetrically configured headlamps disposedapiece on the right and left of a vehicle in the vehicle widthdirection. Since the right and left headlamps are substantially the samein structure except that they are arranged symmetrically right and left,description will be given herein below of the structure of the rightheadlamp 210R and thus the description of the left headlamp will bepartially omitted. When describing the components of the left headlampthat are the same or similar to those of the right headlamp, forconvenience of description, they are given the same reference signs.

The headlamp 210R includes a lamp body 212 having a front opening and atransparent cover 214 for covering the opening. The lamp body 212includes removable cover 212a on its rear side, which is removed when,for example, replacing a light source 14. The lamp body 212 andtransparent cover 214 together form a lamp chamber 216. In the lampchamber 216, a lamp unit 10 (an example of a vehicle lamp) isaccommodated to irradiate light forward from a vehicle.

The lamp unit 10 has a lamp bracket 218 having a pivot mechanism 218aserving as the pivot center of the lamp unit 10 in the vertical andhorizontal directions. The lamp bracket 218 is threadedly engaged withan aiming adjustment screw 220 rotatably supported on the wall surfaceof the lamp body 212. Therefore, the lamp unit 10 can be fixed at such agiven position within the lamp chamber 216 as can be determinedaccording to the adjusted state of the aiming adjustment screw 22( ) 220and, with such position as the reference, the attitude of the lamp unit10 can be changed between a forwardly inclined attitude and a backwardlyinclined attitude about the pivot mechanism 218a. Also, to the lowersurface of the lamp unit 10 there is fixed the rotation shaft 222a of aswivel actuator 222 used to form a curved road light distributionvariable headlamp or the like for illuminating the vehicle advancingdirection when the vehicle is moving along the curved road. The swivelactuator 222 is fixed to a unit bracket 224.

To the unit bracket 224, there is connected a leveling actuator 226disposed outside the lamp body 212. The leveling actuator 226 includes,for example, a motor capable of expanding and contracting a rod 226a inthe directions M, N shown in FIG. 1 . When the rod 226a is expanded inthe direction M, the lamp unit 10 is swung about the pivot mechanism218a to take the backward inclined attitude. Oppositely, when the rod226a is contracted in the direction N, the lamp unit 10 is swung aboutthe pivot mechanism 218a to take the forward inclined attitude. When thelamp unit 10 takes the backward inclined attitude, there can be made aleveling adjustment which directs the pitch angle of an optical axis O,that is, the vertical direction angle of the optical axis O upwardly.Also, when the lamp unit 10 takes the backward inclined attitude, therecan be made a leveling adjustment which directs the pitch angle of theoptical axis O downwardly.

On the inner wall surface of the lamp chamber 216 existing downwardly ofthe lamp unit 10, there is provided a irradiation controller 228(controller, control unit) for carrying out the on/off control, lightdistribution pattern formation control, optical axis adjustment and thelike of the lamp unit 10. In the case of FIG. 1 , there is disposed airradiation controller 228R for controlling the headlamp 210R. Thisirradiation controller 228R also controls the swivel actuator 222,leveling actuator 226 and the like. The irradiation controller 228R mayalso be disposed outside the headlamp 210R.

The lamp unit 10 may also include an aiming adjustment mechanism. Forexample, in the connecting portion between the rod 226a of the levelingactuator 226 and unit bracket 224, there may be disposed an aiming pivotmechanism (not shown) which serves as the center of oscillation in theaiming adjustment. Also, in the lamp bracket 218, there may be disposedtwo aiming adjustment screws 220 of the above type spaced from eachother in the vehicle width direction. By rotating the two aimingadjustment screws 220, the lamp unit 10 can be swung vertically andhorizontally about the aiming pivot mechanism to thereby be able toadjust the optical axis O vertically and horizontally. This aimingadjustment is carried out, for example, in the vehicle shipping time, inthe vehicle safety check time, and in the replacement of the headlamp210R. The headlamp 210R is adjusted to the attitude that is decided indesign and, with this attitude as the reference, the light distributionpattern formation control and the optical axis position adjustmentcontrol are carried out.

The lamp unit 10 includes a shade mechanism 18 including a rotationshade 12, a light source 14, a lamp housing 17 with a reflector 16supported on the inner wall thereof, and a projection lens 20. The lightsource 14 may be, for example, an incandescent lamp, a halogen lamp, adischarge lamp and an LED. In this exemplary embodiment, the lightsource 14 is a halogen lamp. The reflector 16 reflects light emittedfrom the light source 14. The light emitted from the light source 14 andthe light reflected by the reflector 16 are in part guided through therotation shade 12 to the projection lens 20. The rotation shade 12 is acylindrical member rotatable about a rotation shaft 12a, while itincludes a cutout portion cut out therefrom in the axial direction andmultiple shade plates (not shown). When the cutout portion or shadeplates are moved onto the optical axis O, a given light distributionpattern is formed. At least a portion of the reflector 16 is formed tohave an elliptic spherical surface shape, and this elliptic sphericalsurface is set such that the section shape including the optical axis Oof the lamp unit 10 can provide at least a portion of the ellipticshape. The elliptic spherical surface portion of the reflector 16 has afirst focus substantially in the center of the light source 14 and asecond focus on the rear focal plane of the projection lens 20.

The projection lens 20 is disposed on the optical axis O extending inthe vehicle longitudinal direction. The light source 14 is disposed morebackwardly of a rear focal plane which is a focal plane including therear focus of the projection lens 20. The projection lens 20 is aplanoconvex aspherical surface having a convex front surface and a flatrear surface, and projects a light source image formed on the rear focalplane, as a reversed image, on a virtual vertical screen ahead of thevehicle lamp system 200. Here, the lamp unit 10 is not limited to thisstructure. For example, the lamp unit 10 may be a reflector type lampunit that does not have the projection lens 20.

FIG. 2 is a function block diagram of the irradiation controller of theabove-structured headlamp and a vehicle controller provided on avehicle. As described above, since the right headlamp 210R and leftheadlamp 210L are basically the same in structure, only the headlamp210R will be described here, while omitting the description of theheadlamp 210L.

The irradiation controller 228R of the headlamp 210R includes a receiver228R1, a control controller/control unit 228R2, a transmitter 228R3 anda memory 228R4. The irradiation controller 228R controls a power circuit230 according to information obtained from a vehicle controller 302carried on a vehicle 300, thereby carrying out the turn-on control ofthe light source 14. Also, the irradiation controller 228R controls ashade controller 232, a swivel controller 234 and a leveling controller236 (a an example of an optical axis adjusting portion) according toinformation obtained from the vehicle controller 302. Various kinds ofinformation transmitted from the vehicle controller 302 are received bythe receiver 228R1, while the control controller/control unit 228R2generates various control signals from this information, as the arises,together with information stored in a memory 228R4. These controlsignals are transmitted by the transmitter 228R3 to the power circuit230 of the lamp unit 10, shade controller 232, swivel controller 234,leveling controller 236 and the like. The memory 228R4 may be, forexample, a nonvolatile memory.

The shade controller 232 rotationally controls a motor 238 connected tothe rotation shaft 12a of the rotation shade 12 to thereby move adesired shade plate or the cutout portion onto the optical axis O. Theswivel controller 234 controls the swivel actuator 222 to adjust theangle of the optical axis O of the lamp unit 10 with respect to avehicle width direction (right and left directions). Specifically, whenthe vehicle makes a turn, for example, when going along a curve, or whenturning to the right or left, the controller 232 directs the opticalaxis O of the lamp unit 10 in a direction where the vehicle is going tomove from now. The leveling controller 236 controls the levelingactuator 226 to adjust the optical axis O of the lamp unit 10 withrespect to the vehicle vertical direction (a pitch angle direction). Forexample, it adjusts the attitude of the lamp unit 10 according to theforwardly or backwardly inclined attitude of the vehicle when increasingor decreasing a carrying load or when increasing or decreasing thenumber of occupants, thereby adjusting the arrival distance of theforward irradiation light to the optimum distance. The vehiclecontroller 302 supplies similar information to the headlamp 210L aswell, while the irradiation controller 228L (controller, control unit)provided in the headlamp 210L executes similar control to theirradiation controller 228R.

Light distribution patterns to be formed by the headlamps 210L, 210R canbe switched according to the operation contents of the light switch 304by a driver. In this case, according to the operation of the lightswitch 304, the irradiation controllers 228L and 228R control the motor238 through the shade controller 232 to determine the light distributionpattern to be formed by the lamp unit 10. Or, the headlamps 210L, 210Rmay not be controlled by the operation of the light switch 304 but maybe automatically controlled such that they can detect the state of thevehicle 300 or vehicle peripheral conditions using various sensors tothereby form the optimum light distribution pattern. This lightdistribution pattern automatic formation control may be carried out, forexample, when the light distribution pattern automatic formation controlis instructed by the light switch 304.

In order to detect a target object such as a vehicle ahead or anoncoming vehicle, a camera 306 such as a stereo camera is connected tothe vehicle controller 302. The image processor 308 executes a givenimage process such as a target object recognition process on image framedata pictured by the camera 306, and the recognition results aresupplied to the vehicle controller 302. Also, the vehicle controller 302is also capable of obtaining information supplied from a steering sensor310, a vehicle speed sensor 312, a navigation system 314, anacceleration sensor 316 and the like respectively carried on the vehicle300. Thus, according to the moving state and attitude of the vehicle300, the irradiation controllers 228L, 228R can select the lightdistribution pattern to be formed and can change the direction of theoptical axis O.

Next, description will be given below specifically of the auto-levelingcontrol that is carried out by the above structured vehicle lamp system200. FIGS. 3A and 3B are diagrams illustrating the relationship betweena direction of a vehicle motion acceleration vector and a vehicleattitude angle. FIG. 3A shows a state where a vehicle attitude angle θv(which will be discussed later) remains unchanged, whereas FIG. 3B showsa state where the vehicle attitude angle θv has changed. In FIGS. 3A and3B, a motion acceleration vector a α and a resultant acceleration vectorβ (which are generated when the vehicle 300 advances) are respectivelyshown by solid line arrows, whereas a motion acceleration vector a α anda resultant acceleration vector β (which are generated when the vehicle300 decelerates or backs) are respectively shown by broken line arrows.FIG. 4 is a graph of the relationship between the vehicle longitudinaldirection acceleration and vehicle vertical direction acceleration.

For example, when a baggage is carried in the baggage room of the rearportion of the vehicle or when an occupant sits on the rear seat, thevehicle takes the backward inclined attitude; and, when the baggage hasbeen removed or when the occupant has got off the vehicle, the vehicleinclines forward from the backward inclined attitude. The irradiationdirection of the lamp unit 10 also varies according to the change of theattitude of the vehicle 300 and thus the forward irradiation distanceincreases or decreases accordingly. The irradiation control unitcontroller 228L, 228R receive the values detected by the accelerationsensor 316 through the vehicle controller 302, controls the levelingactuator 226 through the leveling controller 236 to determine the pitchangle of the optical axis O as an angle corresponding to the vehicleattitude. Thus, by carrying out the auto-leveling control which makesthe leveling adjustment of the lamp unit 10 real time according to thevehicle attitude, even when the vehicle attitude changes according tothe state of use of the vehicle 300, the arrival distance of the forwardirradiation can be adjusted to the optimum.

The acceleration sensor 316 is, for example, a three-axis accelerationsensor having an X axis, a Y axis and a Z axis which are perpendicularto each other. The acceleration sensor 316 is mounted on the vehicle 300such that the X axis extends along the longitudinal axis of the vehicle300, Y axis extends along the right and left axis of the vehicle 300 andZ axis extends along the vertical axis of the vehicle 300 respectively.The acceleration sensor 316 detects the inclination of the vehicle 300with respect to the gravity acceleration vector G and outputs thenumerical values of the respective axis components of the gravityacceleration vector G in the three axis directions. That is, theacceleration sensor 316 can detect, as a vector, the inclination angleof a vehicle with respect to a horizontal plane, i.e. a summed angle θincluding a road surface angle θr (a first angle), namely, theinclination angle of a road surface with respect to the horizontal planeand a vehicle attitude angle θv (a second angle), namely, theinclination angle of the vehicle with respect to the road surface. Also,the acceleration sensor 316, while the vehicle is moving, detects aresultant acceleration vector β in which the gravity acceleration vectorG and a motion acceleration vector a α generated due to the motion ofthe vehicle 300 are combined together, and outputs the numerical valuesof the respective axis components of the resultant acceleration vector βin the three axis directions. Here, the road surface angle θr, vehicleattitude angle θv and summed angle θ are respectively angles in thevertical direction of the X axis, in other words, the pitch directionangles of the vehicle 300. Here, in the following description, thecomponent of the acceleration sensor 316 in the Y axis direction, thatis, the rolling direction angle of the vehicle 300 is not taken intoconsideration. The acceleration sensor 316 may also be mounted on thevehicle 300 in any other orientation. In this case, the numerical valuesof the respective components of the X axis, Y axis and X axis outputfrom the acceleration sensor 316 are respectively converted to thecomponents of the longitudinal axis, lateral axis and vertical axis ofthe vehicle by the irradiation controller 228R.

The object of the auto-leveling control is to absorb variations in theforward irradiation distance of the vehicle lamp caused by variations inthe vehicle pitch direction inclination angle to thereby keep theforward arrival distance of the irradiation light to the optimumdistance. Therefore, the inclination angle of the vehicle necessary forthe auto-leveling control is the vehicle attitude angle θv. That is, itis desirable that the optical axis position of the lamp unit 10 beadjusted when the vehicle attitude angle θv changes, and that theoptical axis position of the lamp unit 10 be maintained when the roadsurface angle θr changes. In order to realize this, the vehicle attitudeangle θv is extracted from the summed angle θ obtained from theacceleration sensor 316.

The vehicle 300 moves parallel to the road surface. Therefore, themotion acceleration vector α provides a vector parallel to the roadsurface regardless of the vehicle attitude angle θv. Also, shown in FIG.3A, when the vehicle attitude angle θv of the vehicle 300 is 0°,theoretically, the X axis of the acceleration sensor 316 (or thelongitudinal axis of the vehicle 300) is parallel to the road surfaceand, therefore, the motion acceleration vector α provides a vectorparallel to the X axis of the acceleration sensor 316. Thus, when themagnitude of the motion acceleration vector α is varied due to theacceleration or deceleration of the vehicle, the locus of the leadingend of the resultant acceleration vector β to be detected by theacceleration sensor 316 provides a straight line parallel to the X axis.On the other hand, as shown in FIG. 3B, when the vehicle attitude angleθv of the vehicle 300 is not 0°, the X axis of the acceleration sensor316 is shifted obliquely with respect to the road surface and thus themotion acceleration vector α provides a vector extending obliquely withrespect to the X axis of the acceleration sensor 316. Therefore, whenthe magnitude of the motion acceleration vector α is varied due to theacceleration or deceleration of the vehicle, the locus of the leadingend of the resultant acceleration vector β provides a straight lineinclined with respect to the X axis.

In this case, the irradiation controller 228R receives through thereceiver 228R1 the vehicle longitudinal direction acceleration and thevehicle vertical direction acceleration from the acceleration sensor316. The control controller/control unit 228R2 calculates a ratiobetween the temporal change amount of the vehicle longitudinal directionacceleration and the temporal change amount of the vehicle verticaldirection acceleration at least in one of the acceleration anddeceleration of the vehicle 300. For example, the irradiation controller228R, as shown in FIG. 4 , plots points corresponding to the valuesdetected by the acceleration sensor 316 over a time during at least oneof the acceleration and a deceleration of the vehicle on a coordinatesystem having a first axis (x axis) representing the vehiclelongitudinal direction acceleration and a second axis (z axis)representing the vehicle vertical acceleration. Points t_(A1), t_(A2), .. . , t_(An) denote the values detected by the acceleration sensor 316at timings t₁, t₂, . . . , t_(n) in a state shown in FIG. 3A. Pointst_(B1), t_(B2), . . . , t_(Bn) denote the values detected by theacceleration sensor 316 at timings t₁, t₂, . . . , t_(n) in a stateshown in FIG. 3B. The irradiation controller 228R calculates the slopeof a straight line or a vector obtained from at least two of the pointsas the ratio described above. In this exemplary embodiment, theirradiation controller 228R obtains a linear approximation A, B withrespect to the plotted points t_(A1), t_(A2), . . . , t_(An), t_(B1),t_(B2), . . . , t_(Bn) using the method of least squares or the like,and calculates the slope of the linear approximation A, B as the ratio.

When the vehicle attitude angle θv is 0°, a linear approximation Aparallel to the x axis is obtained from the values detected by theacceleration sensor 316. That is, the slope of the linear approximationA is 0. When the vehicle attitude angle θv is not 0°, a linearapproximation B having a slope corresponding to the vehicle attitudeangle θv is obtained. Therefore, by measuring a variation in the ratiobetween the temporal change amounts of the vehicle longitudinaldirection acceleration and the vehicle vertical direction accelerationduring the acceleration or the deceleration of the vehicle 300, from thevalues detected by the acceleration sensor 316, a variation in thevehicle attitude angle θv can be obtained. By using this information onthe variation in the vehicle attitude angle θv, an auto-leveling controlcan be realized with high accuracy.

The vehicle lamp system 200 according to this exemplary embodiment,using the information about the vehicle attitude angle θv that can beobtained by detecting the above ratio variation, carries out thefollowing auto-leveling control. That is, firstly, the vehicle 300 isset in a basic condition in which the vehicle 300 is placed on ahorizontal plane, for example, in the manufacturing factory of a vehiclemanufacturer or in the repair shop of a dealer. The basic condition isalso a condition in which only one person is in the vehicle 300, sittingon the driver's seat of the vehicle 300, or a condition in which thevehicle 300 is vacant. Through the switch operation of theinitialization processing apparatus of the factory or through thecommunication of a CAN (Controller Area Network) for connecting togetherthe irradiation controller 228F 228R and acceleration sensor 316 throughthe vehicle controller 302, an initialization signal is transmitted tothe irradiation controller 228R. The initialization signal transmittedto the irradiation controller 228R is received by the receiver 228R1 andis then transmitted to the control controller/control unit 228R2. Thecontrol controller/control unit 228R2, on upon receiving theinitialization signal, uses the values output from the accelerationsensor 316 and received by the receiver 228R1 as reference inclinationangles, and carries out an initial aiming adjustment. Also, the controlcontroller/control unit 228R2 records the values output from theacceleration sensor 316 as the reference value of the road surface angleθr (θr=0′) and the reference value of the vehicle attitude angle θv(θv=0°) into the memory 228R4 to thereby store these reference values.

While a vehicle is moving, the vehicle attitude angle θv is rarelyvaried due to an increase or a decrease in the loading on the vehicle orin the number of occupants in the vehicle. Thus, a variation in thesummed angle θ while the vehicle is moving can be regarded as avariation in the road surface angle θr. Accordingly, when the summedangle θ varies while the vehicle is moving, the controlcontroller/control unit 228R2 prevents the generation of a controlsignal for instructing the optical axis adjustment. Alternatively, thecontrol controller/control unit 228R2 may generate a control signal forinstruction to maintain of the optical axis position in response to avariation in the summed angle θ while the vehicle is moving, and thetransmitter 228R3 may transmit it to the leveling controller 236.Whether the vehicle 300 is moving or not can be determined by, forexample, a vehicle speed obtained from the vehicle speed sensor 312.“While the vehicle is moving” can be defined as, for example, from thetime when the vehicle speed obtained from the vehicle speed sensor 312exceeds 0 to the time when the vehicle speed obtained from the vehiclespeed sensor 312 becomes 0. “While the vehicle is moving” can optionallybe defined based on an experiment or simulation by a designer.

When the vehicle is stopped, the control unit 228R2 subtracts thereference value of the vehicle attitude angle θv, which is read out fromthe memory 228R4, from the current summed angle θ detected by theacceleration sensor 316 to calculate the road surface angle θr. The roadsurface angle θr is recorded into the memory 228R4 as the new referencevalue of the road surface angle θr. “When the vehicle is stopped” is,for example, the time when the value detected by the acceleration sensor316 becomes stable after the vehicle speed obtained by the vehicle speedsensor 312 became 0. The reason why it is the time when the valuedetected by the acceleration sensor 316 becomes stable is that it takesa little time for the attitude of the vehicle 300 to become stable afterthe vehicle 300 stops and thus, in a state where the vehicle attitude isnot stable, it is difficult to detect the accurate summed angle θ. The“the time when the value becomes stable” may be defined as the time whenthe variations in the values detected by the acceleration sensor 316 perunit time becomes equal to or less than a threshold, or as the time whena given period of time has elapsed after the vehicle speed detected bythe vehicle speed sensor 312 became 0. The time “when the vehicle isstopped”, the “threshold” and the “given period of time” can optionallybe set based on an experiment or simulation by a designer.

While the vehicle is stopped, it is rare that the vehicle 300 moves andthe road surface angle θr changes. Thus, a variation in the summed angleθr while the vehicle is stopped can be regarded as a variation in thevehicle attitude angle θv. Thus, when the summed angle θ varies whilethe vehicle is stopped, the control controller/control unit 228R2, usingthe vehicle attitude angle θv obtained from the values detected by theacceleration sensor 316 and the reference value of the road surfaceangle θr read out from the memory 228R4, generates a control signal forinstructing the optical axis adjustment. More specifically, while thevehicle is stopped, the control controller/control unit 228R2 calculatesthe vehicle attitude angle θv repetitively at given timings. The vehicleattitude angle θv can be obtained by subtracting the road surface angleθr stored in the memory 228R4 from the current summed angle θ receivedfrom the acceleration sensor 316. When the difference between thecalculated vehicle attitude angle θv and the reference value of thevehicle attitude angle θv stored in the memory 228R4 is equal to or morethan a threshold, the control controller/control unit 228R2 generates acontrol signal according to the newly obtained vehicle attitude angleθv. This can avoid frequent optical axis adjustments and, as a result,the control burden of the control controller/control unit 228R2 can bereduced and the life of the leveling actuator 226 can be extended. Thethus generated control signal is transmitted to the leveling controller236 by the transmitter 228R3, whereby an optical axis adjustmentaccording to the control signal can be carried out. The calculatedvehicle attitude angle θv is recorded into the memory 228R4 as a newreference value.

“While the vehicle is stopped” means, for example, a period from thetime when the value detected by the acceleration sensor 316 becomesstable to the time when the vehicle starts moving. The “time when thevehicle starts moving” means, for example, the time when the vehiclespeed detected by the acceleration vehicle speed sensor 312 exceeds 0.“While the vehicle is stopped” can optionally be defined based on anexperiment or simulation by a designer.

During at least one of the acceleration and deceleration of the vehicle,for example, for a given time when the vehicle starts or stops, thecontrol controller/control unit 228R2 records the values output from theacceleration sensor 316. The control controller/control unit 228R2 plotsthe recorded output values on a coordinate system having a first axisrepresenting the vehicle longitudinal direction acceleration and asecond axis representing the vehicle vertical direction acceleration,and using the method of least square, calculates linear approximationscontinuously or at every given time. The control controller/control unit228R2 generates a control signal for instructing the optical axisadjustment of the lamp unit 10 according to a variation in the slope ofthe obtained linear approximations, thereby correcting the optical axisposition. The control controller/control unit 228R2 also corrects thereference value of the vehicle attitude angle θv stored in the memory228R4. For example, the control controller/control unit 228R2 comparesthe currently obtained slope of the linear approximation with thepreviously obtained slope of the linear approximation and, when there isa variation in the slope of the linear approximation, carries out acorrection process according to this slope variation.

For example, where the vehicle attitude angle θv stored in the memory228R4 is p° and the accumulated value of variations in the slope of thelinear approximation from the first calculation is q°, or where thevariation amount of the vehicle attitude angle θv while the vehicle isstopped, (that is, a difference between the vehicle attitude angle θvstored when the vehicle is stopped and the vehicle attitude angle θvstored when the vehicle starts moving) is p°, and a slope differencebetween a linear approximation calculated when the vehicle previouslystarted moving and a linear approximation calculated when the vehiclestarts moving is q°, the control controller/control unit 228R2 generatesa control signal for adjusting the optical axis position only by anerror (p−q)° of the vehicle attitude angle θv and the transmitter 228R3transmits this control signal. Also, the control controller/control unit228R2 corrects the reference value of the vehicle attitude angle θvstored in the memory 228R4 only by (p−q)°. Thus, as described above, byrewriting the reference values of the road surface angle θr and vehicleattitude angle θv repetitively, there can be prevented a possibilitythat the detection errors or the like of the acceleration sensor 316 canbe accumulated to thereby deteriorate the accuracy of the auto-levelingcontrol. Or, the accuracy deterioration of the auto-leveling control canbe reduced.

The method for correcting the optical axis position and the referencevalue of the vehicle attitude angle θv may also be as follows. That is,when there cannot be avoided disturbances such as the inclination of thevehicle attitude due to the acceleration or deceleration of the vehicle300 and the inclination of the vehicle attitude due to the turning ofthe vehicle 300, there is a possibility that the amount of variations inthe slope of the linear approximation can deviate greatly from theamount of variations in the vehicle attitude angle θv. In this case,even when the optical axis position and the reference value of thevehicle attitude angle θv are corrected by the variation amount of theslope of the linear approximation, they deviate from the actual vehicleattitude angle θv. Also, since the varied slope of the linearapproximation raises a high possibility that the actual vehicle attitudeangle θv deviates from the reference value stored, there is apossibility that, even when the optical axis is adjusted using thereference value stored, the auto-leveling control cannot be carried outwith high accuracy. Therefore, when a variation in the above-mentionedratio or in the slope of the linear approximation is detected, thecontrol controller/control unit 228R2, as the correction control of theoptical axis position according to this slope variation, moves theoptical axis position nearer to the horizontal direction or to theinitial position to thereby draw the reference value of the vehicleattitude angle θv nearer to 0°. Due to this, even when the optical axisposition of the lamp unit 10 cannot be made to follow a variation in thevehicle attitude angle θv with high accuracy, there can be realized afailsafe function which moves the optical axis position nearer to thehorizontal direction or to the initial position to thereby secure thevisibility of a driver.

Here, the control controller/control unit 228R2 may also be structuredsuch that, when a difference between the calculated vehicle attitudeangle θv and the reference value of the vehicle attitude angle θv storedin the memory 228R4 is equal to or more than a threshold, it stores thecalculated vehicle attitude angle θv into the memory 228R4 as a newreference value. Similarly, the control controller/control unit 228R2may also be structured such that, when a difference between thecalculated road surface angle θr and the reference value of the roadsurface angle θr stored in the memory 228R4 is equal to or more than athreshold, it stores the calculated road surface angle θr into thememory 228R4 as a new reference value. This can prevent the referencevalue of the road surface angle θr or vehicle attitude angle θv frombeing rewritten frequently. Also, the control controller/control unit228R2 may also calculate the road surface angle θr when the summedangles θ in the start and stop times of the vehicle 300 differ from eachother. This can reduce the control burden of the controlcontroller/control unit 228R2.

Also, the control controller/control unit 228R2 may also previouslystore the values detected by the acceleration sensor 316 in theacceleration and deceleration times of the vehicle 300 from one-timestart to stop thereof and, in the vehicle stop time or the like, maycalculate a linear approximation to thereby perform the above-mentionedcorrection process.

FIG. 5 is a flow chart of the auto-leveling control of the vehicle lampsystem according to the first exemplary embodiment. In the flow chart ofFIG. 5 , the processing procedures of the respective parts aredesignated using combinations of S (STEP) and numerals. Also, in aprocess designated by a combination of S and a numeral, there is carriedout some check process. When the check result thereof is positive, Y(YES) is added to designate, for example, (S101; Y) and, oppositely,when the check result is negative, N (NO) is added to designate, forexample, (S101; N). For example, in a state where an instruction forexecution of an auto-leveling control mode is given by the light switch304, when the ignition is turned on, this flow is carried outrepetitively at a given timing by the irradiation controller 228R(control controller/control unit 228R2) and, when the ignition is turnedoff, it is ended.

Firstly, the control controller/control unit 228R2 determines whether avehicle is moving (S101). If it is determined that the vehicle is moving(S101; Y), the control controller/control unit 228R2 determines whetherthe vehicle is in an accelerating or decelerating mode or not (S102).The acceleration or deceleration of the vehicle can be detected, forexample, from the value detected by the acceleration sensor 316, or fromwhether an accelerator pedal or a brake pedal (neither of them areshown) is pressed down. If it is determined that the vehicle is in theaccelerating or decelerating mode (S102; Y), the controlcontroller/control unit 228R2 calculates a linear approximation from themultiple values output from the acceleration sensor 316 and compares theslope of the currently calculated linear approximation with the slope ofthe previously calculated linear approximation (S103). The controlcontroller/control unit 228R2 determines whether there is a variation inthe slope of the linear approximation (S104). If it is determined thatthere is a variation in the slope of the linear approximation (S104; Y),the control controller/control unit 228R2 generates a control signal forinstructing the optical axis adjustment to thereby correct the opticalaxis position and the reference value of the vehicle attitude angle θv(S105). After that, even when a summed angle θ detected by theacceleration sensor 316 has varied, the control controller/control unit228R2 does not generate a control signal for instructing the opticalaxis adjustment but avoids the optical axis adjustment, ending thisroutine. If it is determined that the vehicle is not in an acceleratingor decelerating mode (S102; N) and or that there is no variation in theslope of the linear approximation (S104; N), the controlcontroller/control unit 22882 228R2 also avoids the optical axisadjustment (S106) and ends this routine.

If it is determined that the vehicle is not moving (S101; N), thecontrol controller/control unit 228R2 determines whether it is when thevehicle is stopped (S107). If it is determined that it is when thevehicle is stopped (S107; Y), the control controller/control unit 228R2subtracts the reference value of the vehicle attitude angle θv from thecurrent summed angle θ to calculate the road surface angle θr (S108) andstores the calculated road surface angle θr into the memory 228R4 as anew reference value (S109). The control controller/control unit 228R2then avoids the optical axis adjustment (S106) and ends this routine.

If it is determined that it is not when the vehicle is not stopped(S107; N), because the vehicle is actually not moving, and the controlcontroller/control unit 228R2 subtracts the reference value of the roadsurface angle θr from the current summed angle θ to calculate thevehicle attitude angle θv (S110). Next, the control controller/controlunit 228R2 determines whether a difference between the calculatedvehicle attitude angle θv and the reference value of the vehicleattitude angle θv is equal to or more than a threshold (S111). If it isdetermined that the difference is less than the threshold (S111; N), thecontrol controller/control unit 228R2 avoids the optical axis adjustment(S106) and ends this routine. If it is determined that the difference isequal to or more than the threshold (S111; Y), the controlcontroller/control unit 228R2 adjusts the optical axis positionaccording to the calculated vehicle attitude angle θv (S112). Thecontrol controller/control unit 228R2 then stores the calculated vehicleattitude angle θv into the memory 228R4 as a reference value (S113) andends this routine. If it is determined that the difference is equal toor more than the threshold (S111; Y), the control controller/controlunit 228R2 adjusts the optical axis position according to the calculatedvehicle attitude angle θv (S112). The control controller/control unit228R2 then stores the calculated vehicle attitude angle θv into thememory 228R4 as a reference value (S113) and ends this routine.

Here, in the left headlamp 210L, the irradiation controller 228L, morespecifically, the control controller/control unit 228L2, carries outsimilar control. Alternatively, one of the irradiation portionscontrollers 228L and 228R may calculate the vehicle attitude angle θvand road surface angle θr, while the other may obtain the calculatedvehicle attitude angle θv and road surface angle θr to adjust theoptical axis O.

While the vehicle is moving, generally, the period during which thevehicle 300 maintains its speed constant is short. Thus, it can bepresumed that, most of the time during its movement, the vehicle isaccelerating or decelerating. Therefore, it is possible to omit StepS102 for checking whether the vehicle 300 is accelerating ordecelerating.

As described above, the vehicle lamp system 200 according to thisexemplary embodiment receives an acceleration information from theacceleration sensor 316 in such a form that a vehicle longitudinaldirection acceleration and a vehicle vertical direction acceleration aredrivable derivable from the acceleration information, and adjusts theoptical axis of the lamp unit 10 based on a variation in the ratiobetween the temporal change amount of the acceleration in the vehiclelongitudinal direction and the temporal change amount of theacceleration in the vehicle vertical direction during at least one ofthe acceleration and deceleration of the vehicle 300. Thus, the vehiclelamp system 200 according to this exemplary embodiment obtainsinformation about the vehicle attitude angle θv using a new extractionmethod which obtains a variation in the vehicle attitude angle θv from avariation in the ratio between the temporal change amount of theacceleration in the vehicle longitudinal direction and the temporalchange amount of the acceleration in the vehicle vertical directionduring the acceleration or deceleration of the vehicle. That is, thevehicle lamp system 200 according to this exemplary embodiment obtainsinformation about the vehicle attitude angle θv from the plotcharacteristic of the acceleration sensor 316. Therefore, with use ofthe vehicle lamp system 200 according to this exemplary embodiment,there can be provided a new technology which extracts information aboutthe vehicle attitude angle θv from the summed angle θv detected by theacceleration sensor 316.

Further, according to the vehicle lamp system 200 described above, whenthe summed angle θ varies while the vehicle is moving, a due to a roadsurface situation. A road surface angle θr is derived from the variedsummed angle θ at a time when the vehicle is stopped and the referencevalue of the vehicle attitude angle θv and the stored reference value ofthe road surface angle θr is rewritten, and when the summed angle θvaries while the vehicle is stopped, a vehicle attitude angle θv isderived from the varied summed angle θ and the reference value of theroad surface angle θr and the stored reference value of the vehicleattitude angle θv is rewritten. During the acceleration or thedeceleration of the vehicle 300 and using information about the vehicleattitude angle θv extracted by the above method, the vehicle lamp system200 corrects the optical axis position of the lamp unit 10 and thereference value of the vehicle attitude angle θv stored in the memory228R4. Therefore, the vehicle lamp system 200 can carry outauto-leveling control using an acceleration sensor with high accuracy.

A vehicle lamp system 200 according to a second exemplary embodiment isa system which derives a vehicle attitude angle θv from a ratio betweenthe temporal change amount of the acceleration in the vehiclelongitudinal direction and the temporal change amount of theacceleration in the vehicle vertical direction and, using the derivedvehicle attitude angle θv, carries out an optical axis adjustment. Now,description will be given below of this exemplary embodiment. Thecomponents of this vehicle lamp system 200 according to the secondexemplary embodiment, that are similar to those of the first exemplaryembodiment, are given the same reference signs, and the descriptionthereof will be omitted.

The vehicle lamp system 200 according to this exemplary embodiment,using information about the vehicle attitude angle θv to be obtained bydetecting the above-mentioned variation in the ratio, carries out thefollowing auto-leveling control. That is, firstly, the vehicle 300 setin a basic condition in which the vehicle 300 moves on a horizontalplane, for example, in the manufacturing factory of a vehiclemanufacturer or in the repair shop of a dealer. In this basic condition,the vehicle 300 is accelerated or decelerated. As an initializationprocess, the control controller/control unit 228R2 receives accelerationinformation from the acceleration sensor 316 and calculates a ratiobetween the temporal change amount of the acceleration in the vehiclelongitudinal direction and the temporal change amount of theacceleration in the vehicle vertical direction during at least one ofthe acceleration and deceleration of the vehicle 300. The controlcontroller/control unit 228R2 stores the calculated ratio into thememory 228R4 as a reference value of the ratio.

When the vehicle 300 is actually in use, the control controller/controlunit 228R2 calculates a ratio between the temporal change amount of theacceleration in the vehicle longitudinal direction and the temporalchange amount of the acceleration in the vehicle vertical directionduring at least one of the acceleration and deceleration of the vehicle300. The control controller/control unit 228R2 obtains a vehicleattitude angle θv from the reference value of the ratio previouslystored in the initialization process and the current ratio, and carriesout an optical axis adjustment using the obtained vehicle attitude angleθv.

For example, the control controller/control unit 228R2, in theinitialization process, plots points corresponding to the valuesdetected by the acceleration sensor 316 on a coordinate system having afirst axis representing the vehicle longitudinal direction accelerationand a second axis representing the vehicle vertical directionacceleration, obtains a reference linear approximation from the plottedpoints, and calculates the slope of this reference linear approximationas the reference value of the ratio. When the vehicle is in actual use,the control controller/control unit 228R2 records, for example, for agiven period of time when the vehicle is starting to move or is stoppingto move movement, the values output from the acceleration sensor 316,plots the recorded output values on the coordinate system to find alinear approximation and calculates the slope of the linearapproximation as the ratio. Here, an angle (θ_(AB) in FIG. 4 ) formedbetween the reference linear approximation and the linear approximationcalculated under the vehicle actual use state corresponds to the vehicleattitude angle θv. Therefore, by comparing the slopes of the two linearapproximations or the above-mentioned ratios, the vehicle attitude angleθv can be obtained.

As described above, the vehicle lamp system 200 according to thisexemplary embodiment obtains the vehicle attitude angle θv from thereference value of the ratio, that is obtained while the vehicle 300 ison the horizontal plane, and the current ratio to thereby make theoptical axis adjustment. According to the an auto-leveling controlsystem configured such that the reference value of the road surfaceangle θr is rewritten when the summed angle θ varies while the vehicleis moving, and such that the reference value of the vehicle attitudeangle θv is rewritten when the summed angle θ varies while the vehicleis stopped, the repetitive rewriting of the reference values canincrease the error of the adjustment. On the other hand, in theauto-leveling control according to this exemplary embodiment, theoptical axis position can be adjusted without increasing such adjustmenterror.

A vehicle lamp system 200 according to an third exemplary embodimentcalculates a linear approximation using a set of values output from thesensor during the acceleration of the vehicle and values output from thesensor during the deceleration of the vehicle. Now, description will begiven below of this exemplary embodiment. The components of the vehiclelamp system 200 according to the third exemplary embodiment, that aresimilar to those of the first exemplary embodiment, are given the samereference sings, and the description thereof will be omitted.

FIG. 6 is a diagram to explain the auto-leveling control of the vehiclelamp system of the third exemplary embodiment. As shown in FIG. 6 , inthe vehicle lamp system 200 according to this exemplary embodiment, thecontrol controller/control unit 228R2 stores a first acceleration rangeP1(+) and a second acceleration range P2(+) of the acceleration of thevehicle 300 as well as a first deceleration range P1(−) and a seconddeceleration range P2(−) of the deceleration (negative acceleration) ofthe vehicle 300 as information on a an acceleration range in whichplotting is carried out to calculate a linear approximation (thisinformation is hereinafter referred to as plot range information). Thisplot range information has a set of an acceleration side range and adeceleration side range. In this exemplary embodiment, the plot rangeinformation has two sets, one set including the first acceleration rangeP1(+) and first deceleration range P1(−), and the other set includingthe second acceleration range P2(+) and second deceleration range P2(−).The acceleration range and deceleration range can be set based on theamount of time variations in the vehicle speeds to be detected by thevehicle speed sensor 312 or the magnitude of the vehicle longitudinaldirection components that can be obtained from the values detected bythe acceleration sensor 316. The plot range information is stored in,for example, the memory 228R4.

For example, during the time from the start of the vehicle 300 to thestop thereof, when the acceleration of the vehicle 300 is within thefirst acceleration range P1(+) or within the second acceleration rangeP2(+), or when the deceleration is within the first deceleration rangeP1(−) or within the second deceleration range P2(−), the controlcontroller/control unit 228R2 records the values detected by theacceleration sensor 316. The control controller/control unit 228R2 plotspoints corresponding to the recorded detection values on a coordinatesystem having a first axis representing the vehicle longitudinaldirection acceleration and a second axis representing the vehiclevertical direction, thereby calculating a linear approximation. Thecontrol controller/control unit 228R2 calculates the linearapproximation, for example, at the time when, while the vehicle 300 ismoving, the values detected by the acceleration sensor 316 or theplotted values thereof in the first acceleration range P1(+), firstdeceleration range P1(−), the second acceleration range P2(+) and seconddeceleration range P2(−) are arranged.

The control controller/control unit 228R2 corrects the optical axis Oand the reference value of the vehicle attitude angle θv based avariation in the slope of the calculated linear approximation at a giventiming while the vehicle is moving. More specifically, the controlcontroller/control unit 228R2 calculates an error component Δθe, whichis a difference between the reference value of the vehicle attitudeangle θv and a vehicle attitude angle θv obtained from the slope of thelinear approximation (a ratio between the temporal change amount ofacceleration in the vehicle longitudinal direction and the temporalchange amount of acceleration in the vehicle vertical direction). Forexample, the control controller/control unit 228R2 calculates theaccumulated value of variations in the slope of the linear approximationfrom the first time to the current time calculations to derive thevehicle attitude angle θv, and finds the error component Δθe from thisvehicle attitude angle θv and the reference value of the vehicleattitude angle θv stored in the memory 228R4. Or, the controlcontroller/control unit 228R2, similarly to the second exemplaryembodiment, may obtain a vehicle attitude angle θv from the slopes ofthe previously stored reference linear approximation and the calculatedlinear approximation, and may find an error component Δθe from thisvehicle attitude angle θv and the reference value of the vehicleattitude angle θv stored in the memory 228R4.

The control controller/control unit 228R2 corrects the reference valueof the vehicle attitude angle θv such that the error component Δθe isreduced. In this case, the control controller/control unit 228R2, whenthe absolute value of the obtained the error component Δθe exceeds athreshold value θth (|Δθe|>θth), corrects the reference value of thevehicle attitude angle θv by a correction value θc. Also, the controlunit 228R2 generates a control signal for adjusting the optical axisposition by the correction value θc, thereby correcting the optical axisposition. Here, the control controller/control unit 228R2 may also carryout the above-mentioned correction process, for example, just after thestop of the vehicle 300.

The “threshold value θth” and the “correction value θc” can be set inaccordance with the resolution of the optical axis control, thedetection accuracy of the error component Δθe, or the detectionresolution of the vehicle attitude angle θv using a variation in theslope of the linear approximation. The threshold value θth is set withinthe range of the error that provides no obstacle to the optical axiscontrol. The correction value θc is set, for example, based on the errorthat is caused by, of error main factors, an error factor having thesmallest generation error value. Such error factor includes, forexample, variations in the vehicle attitude under the same loadcondition, that is, variations in the suspension of the vehicle.

The correction value θc is smaller than the threshold value θth. Due tothis, even when the detection accuracy of the error component Δθe islow, the reference value of the vehicle attitude angle θv can be made toapproximate gradually to a correct value. For example, the resolution ofthe angle detection using variations in the slope of the linearapproximation is 0.04°, while the threshold value θth is set for 0.1°and the correction value θc is set for 0.03° respectively. The“threshold value θth” and “correction value θc” can be set based on anexperiment or simulation by a designer.

As described above, the plot range information has a set of theacceleration side range and deceleration side range. Due to suchcombination of the acceleration side range and deceleration side range,the error component of the vehicle attitude variations to be caused byacceleration and the error component of the vehicle attitude variationscaused by deceleration can cancel each other. This makes it possible tocalculate a linear approximation with higher accuracy. Also, the firstacceleration range P1(+) and first deceleration range P1(−) as well asthe second acceleration range P2(+) and second deceleration range P2(−)are set respectively such that the ranges of the magnitude (absolutevalues) of the acceleration and deceleration are equal to each other.Due to such setting, the error component of the vehicle attitudevariations to be caused by acceleration and the error component of thevehicle attitude variations caused by deceleration can cancel eachother. This makes it possible to calculate a linear approximation withfurther higher accuracy.

In this exemplary embodiment, the first acceleration range P1 (+) andfirst deceleration range P1 (−) are set such that they respectivelyprovide a range of given gentle acceleration or deceleration. Also, thesecond acceleration range P2 (+) and second deceleration range P2 (−)are set respectively such that they respectively provide a range ofgiven rapid acceleration or deceleration which is larger when comparedwith the first acceleration range P1 (+) and first deceleration range P1(−). In this exemplary embodiment, since the plot range information hasa set of gentle and rapid acceleration and deceleration ranges, whencompared with a case employing only a set of gentle acceleration anddeceleration or only a set of rapid acceleration and deceleration, alinear approximation can be calculated with higher accuracy.

Here, for the first acceleration range P1 (+) and first decelerationrange P1 (−) as well as the second acceleration range P2 (+) and seconddeceleration range P2 (−), there may also be calculated linearapproximations independently of each other and the respective correctionprocesses may be carried out according to the slopes of the respectivelinear approximations. In this case, according to the calculationfrequency or calculation accuracy of the set of the first accelerationrange P1 (+) and first deceleration range P1 (−) as well as the set ofthe second acceleration range P2 (+) and second deceleration range P2(−), the weight of correction may be different from each other, forexample, the magnitude of the correction value θc may be varied. Or, thecorrection process may be carried out according to the average of theslopes of the linear approximations calculated respectivelyindependently. Further, when, in the set of the first acceleration rangeP1 (+) and first deceleration range P1 (−) as well as the set of thesecond acceleration range P2 (+) and second deceleration range P2 (−),plots are arranged, a linear approximation may be calculated using theseplots; and, when the plots are not ready in both sets within a giventime, a linear approximation may be calculated using the plots of theset in which the plots are ready at the that time.

The plot range information may have only the set of the firstacceleration range P1 (+) and first deceleration range P1 (−) or onlythe set of the second acceleration range P2 (+) and second decelerationrange P2 (−). For example, the set of the first acceleration range P1(+) and first deceleration range P1 (−) set in the gentle accelerationand deceleration range, when compared with the set of the secondacceleration range P2 (+) and second deceleration range P2 (−) set inthe rapid acceleration and deceleration range, has higher frequency thatthe values detected by the acceleration sensor 316 are included in thisrange while the vehicle is moving, thereby being able to increase thenumber of times of correction processes. The number of sets of theacceleration range and deceleration range contained in the plot rangeinformation may be three or more.

The first acceleration range P1 (+) and first deceleration range P1 (−)as well as the second acceleration range P2 (+) and second decelerationrange P2 (−) may also be set such that the ranges of the magnitude ofthe acceleration or deceleration are equal to each other and also theranges of the vehicle speed are equal to each other. In this case, sincean error component caused by acceleration and an error component causedby deceleration can cancel each other, a linear approximation can becalculated with further higher accuracy. The range width of theacceleration and deceleration ranges, the magnitude of the accelerationand deceleration and the like can be set based on an experiment orsimulation by a designer.

FIG. 7 is a flow chart of the auto-leveling control of the vehicle lampsystem according to the third exemplary embodiment. This flow isexecuted repeatedly at a given timing by the irradiation controller228R, more specifically, by the control controller/control unit 228R2,when an ignition is switched on, for example, in a state where aninstruction for execution of the auto-leveling control mode is given bythe light switch 304; and, when the ignition is turned off, this flow isended.

The control controller/control unit 228R2 determines whether the vehicleis moving (S201). If it is determined that the vehicle is moving (S201;Y), the control unit 228R2 determines whether the plots of the valuesdetected by the acceleration sensor 316 in the set of first accelerationrange P1 (+) and first deceleration range P1 (−) as well as the set ofsecond acceleration range P2 (+) and second deceleration range P2 (−)are ready (S202). When the plots are not ready (S202; N), the controlcontroller/control unit 228R2 avoids the optical axis adjustment (S203)and ends this routine. When the plots are ready (S202; Y), the controlcontroller/control unit 228R2 calculates a linear approximation (S204),and calculates an error component Δθe which is a difference between avehicle attitude angle θv derived from the slope of the linearapproximation and the reference value of a vehicle attitude angle θvstored in the memory 228R4 (S205).

The control controller/control unit 228R2 determines whether theabsolute value of the error component Δθe exceeds the threshold valueθth (S206). If it is determined that the absolute value of the errorcomponent Δθe exceeds the threshold value θth (S206; Y), the controlunit 228R2 corrects the reference value of the vehicle attitude angle θvand optical axis position by the correction value θc (S207). After then,the control controller/control unit 228R2 avoids the optical axisadjustment with respect to a variation in the summed angle θ obtainedfrom the value detected by the acceleration sensor 316 (S203) and endsthis routine. If it is determined that the absolute value of the errorcomponent Δθe is equal to or less than the threshold value θth (S206;N), the control controller/control unit 228R2 avoids the optical axisadjustment without executing the correction process (S203) and ends thisroutine.

If it is determined that the vehicle is not moving (S201; N), thecontrol controller/control unit 228R2 determines whether it is when thevehicle is stopped (S208). If it is determined that it is when thevehicle is stopped (S208; Y), the control controller/control unit 228R2calculates the road surface angle θr (S209) and stores the calculatedroad surface angle θr as a new reference value (S210), avoids theoptical axis adjustment (S203) and ends this routine. If it isdetermined that it is not when the vehicle is stopped (S208; N), thecontrol controller/control unit 228R2 calculates the vehicle attitudeangle θv (S211) and determines whether a difference between thecalculated vehicle attitude angle θv and the reference value of thevehicle attitude angle θv is equal to or more than a threshold (S212).If the difference is less than the threshold (S212; N), the controlcontroller/control unit 228R2 avoids the optical axis adjustment (S203)and ends this routine. If the difference equal to or more than thethreshold (S212; Y), the control controller/control unit 228R2 adjuststhe optical axis position according to the calculated vehicle attitudeangle θv (S213), stores the calculated vehicle attitude angle θv as areference value (S214) and ends this routine.

As described above, in the vehicle lamp system 200 according to thisexemplary embodiment, the control controller/control unit 228R2calculates a linear approximation from the plots of the values detectedby the acceleration sensor 316 when the acceleration of the vehicle 300is within a given range and from the plots of the values detected by theacceleration sensor 316 when the deceleration of the vehicle 300 iswithin a given range. Therefore, an error component such as a vehicleattitude variation caused by the acceleration and an error componentsuch as a vehicle attitude variation caused by the deceleration cancancel each other, thereby being able to calculate a linearapproximation having a slope that is closer to the vehicle attitudeangle θv.

Also, the control controller/control unit 228R2 carries out a correctionprocess at the time when plots are obtained in the given accelerationrange and deceleration range. In a control system configured such that acorrection is carried out immediately after the vehicle stops bycalculating a linear approximation from the values detected by theacceleration sensor 316 and recorded from the moving start to stop ofthe vehicle 300. If there is an error in the calculation of the vehicleattitude angle θv and optical axis adjustment while the vehicle isstopped after the correction, the vehicle 300 will move while containingsuch error. However, this exemplary embodiment can avoid such trouble.

Here, the vehicle lamp system 200 according to the above respectiveexemplary embodiments is a mode of the invention. This vehicle lampsystem 200 includes the lamp unit 10 capable of adjusting its opticalaxis, acceleration sensor 316, and irradiation controllers 228L, 228Rfor controlling the lamp unit 10, while it carries out theabove-mentioned auto-leveling control using the irradiation controllers228L, 228R.

The other mode of the invention includes the irradiation controllers228L, 228R respectively serving as control apparatus. The irradiationcontrollers 228L, 228R respectively include receivers 228L1, 228R1 forreceiving vehicle longitudinal direction and vertical directionacceleration from the acceleration sensor 316, controlcontrollers/control units 228L2, 228R2 for carrying out the aboveauto-leveling control, and transmitters 228L3, 228R3 for transmittingcontrol signals generated by the control controllers/control units228L2, 228R2 to a leveling controller 236. The irradiation controller228 in the vehicle lamp system 200 corresponds to a controller in abroad sense, while the control controllers/control units 228L2, 228R2 inthe irradiation controller 228 correspond to a controller in a narrowsense.

A further mode of the invention includes a method for controlling avehicle lamp. This control method adjusts the optical axis of the lampunit 10 based on a variation in the ratio between the temporal changeamount of the vehicle longitudinal direction acceleration and thetemporal change amount of the vehicle vertical direction accelerationduring at least one of the acceleration and deceleration of the vehicle300.

While the present invention has been described with reference to certainexemplary embodiments thereof, the scope of the present invention is notlimited to the exemplary embodiments described above, and it will beunderstood by those skilled in the art that various changes andmodifications, including combinations of features of different exemplaryembodiments described above, may be made therein without departing fromthe scope of the present invention as defined by the appended claims.

For example, in the respective exemplary embodiments, the irradiationcontroller 228 may directly control the leveling actuator 226 serving asan optical axis adjusting portion, without a separate levelingcontroller 236. That is, the irradiation controller 228 may function asthe leveling controller 236. The generation of a control signal forinstruction of the optical axis adjustment in the above respectiveexemplary embodiments may also be carried out by the vehicle controller302. That is, the vehicle controller 302 may serve as a controller forcarrying out the auto-leveling control. In this case, the irradiationcontroller 228 controls the drive of the leveling actuator 226 accordingto an instruction from the vehicle controller 302.

In the first exemplary embodiment as well, similarly to the thirdexemplary embodiment, a correction process using a threshold value θthand a correction value θc may be carried out.

What is claimed is:
 1. A vehicle lamp controller comprising: a receiverconfigured to receive an acceleration information detected by anacceleration sensor; a control unit configured to derive a vehiclelongitudinal direction acceleration and a vehicle vertical directionacceleration from the acceleration information, and to generate acontrol signal for instructing an adjustment of an optical axis of avehicle lamp, based on a variation in a ratio between a temporal changeamount of the vehicle longitudinal direction acceleration and a temporalchange amount of the vehicle vertical direction acceleration during atleast one of an acceleration and a deceleration of a vehicle; and atransmitter configured to transmit the control signal to an optical axisadjusting portion of the vehicle lamp.
 2. The controller according toclaim 1, wherein the control unit plots points corresponding to valuesdetected by the acceleration sensor, over a time during at least one ofthe acceleration and the deceleration of the vehicle, on a coordinatesystem having a first axis representing the vehicle longitudinaldirection acceleration and a second axis representing the vehiclevertical direction acceleration, and defines a slope of a straight lineor a vector obtained from at least two of the points as the ratio. 3.The controller according to claim 2, wherein the control unit defines,as the ratio, the slope of the straight line or the vector obtained fromthe values detected by the acceleration sensor, the values includingvalues detected by the acceleration sensor while the acceleration of thevehicle is within a given range and values detected by the accelerationsensor while the deceleration of the vehicle is within a given range. 4.The controller according to claim 2, wherein the control unit obtains alinear approximation with respect to the points, and defines the slopeof the linear approximation as the ratio.
 5. The controller accordingclaim 1, further comprising a memory, wherein the control unit obtains asummed angle including a first angle and a second angle from theacceleration information, the summed angle being an inclination angle ofthe vehicle with respect to a horizontal plane, the first angle being aninclination angle of a road surface with respect to the horizontalplane, and the second angle being an inclination angle of the vehiclewith respect to the road surface, and wherein a reference value of thefirst angle and a reference value of the second angle are stored in thememory, wherein, when the summed angle varies while the vehicle isstopped, the control unit generates the control signal using the secondangle, that is obtained from the summed angle and the reference value ofthe first angle, and stores the second angle in the memory as thereference value of the second angle, wherein, when the summed anglevaries while the vehicle is moving, the control unit does not generatethe control signal or generates a control signal for maintaining aposition of the optical axis, and when the vehicle stops, the controlunit stores the first angle, that is obtained from the summed angle andthe reference value of the second angle, in the memory as the referencevalue of the first angle, and wherein, when the ratio varies, thecontrol unit corrects the position of the optical axis of the vehiclelamp based on the variation in the ratio.
 6. The controller according toclaim 5, wherein the control unit calculates a difference between thereference value of the second angle and the second angle derived fromthe ratio, and corrects the reference value of the second angle suchthat the difference is reduced.
 7. The controller according to claim 6,wherein, when the difference exceeds a threshold value, the control unitcorrects the reference value of the second angle by a correction valuethat is smaller than the threshold value.
 8. The controller according toclaim 1, wherein the control unit obtains an inclination angle of thevehicle with respect to a road surface from the ratio and a referencevalue of the ratio, that is obtained during at least one of theacceleration and the deceleration of the vehicle on a horizontal plane,and generates the control signal using the inclination angle of thevehicle with respect to the road surface.
 9. The controller according toclaim 1, wherein the acceleration information comprises a summed angleincluding a first angle and a second angle from the accelerationinformation, the summed angle being an inclination angle of the vehiclewith respect to a horizontal plane, the first angle being an inclinationangle of a road surface with respect to the horizontal plane, and thesecond angle being an inclination angle of the vehicle with respect tothe road surface.
 10. The controller according to claim 1, wherein thecontrol unit is configured to obtain an inclination angle of the vehiclewith respect to a road surface based on the variation in the ratiobetween the temporal change amount of the vehicle longitudinal directionacceleration and the temporal change amount of the vehicle verticaldirection acceleration.
 11. A vehicle lamp system comprising: a vehiclelamp having an adjustable optical axis; an acceleration sensor; and acontroller configured to control the vehicle lamp, wherein thecontroller comprises: a receiver configured to receive an accelerationinformation detected by the acceleration sensor; a control unitconfigured to derive a vehicle longitudinal direction acceleration and avehicle vertical direction acceleration from the accelerationinformation, and to generate a control signal for instructing anadjustment of the optical axis of the vehicle lamp, based on a variationin a ratio between a temporal change amount of the vehicle longitudinaldirection acceleration and a temporal change amount of the vehiclevertical direction acceleration during at least one of an accelerationand a deceleration of a vehicle; and a transmitter configured totransmit the control signal to an optical axis adjusting portion of thevehicle lamp.
 12. The vehicle lamp system according to claim 11, whereinthe acceleration information comprises a summed angle including a firstangle and a second angle from the acceleration information, the summedangle being an inclination angle of the vehicle with respect to ahorizontal plane, the first angle being an inclination angle of a roadsurface with respect to the horizontal plane, and the second angle beingan inclination angle of the vehicle with respect to the road surface.13. The vehicle lamp system according to claim 11, wherein the controlunit is configured to obtain an inclination angle of the vehicle withrespect to a road surface based on the variation in the ratio betweenthe temporal change amount of the vehicle longitudinal directionacceleration and the temporal change amount of the vehicle verticaldirection acceleration.
 14. A vehicle lamp control method comprising;obtaining an acceleration information detected by an accelerationsensor; deriving a vehicle longitudinal direction acceleration and avehicle vertical direction acceleration from the accelerationinformation; calculating a variation in a ratio between a temporalchange amount of the vehicle longitudinal direction acceleration and atemporal change amount of the vehicle vertical direction accelerationduring at least one of an acceleration and a deceleration of a vehicle;and adjusting an optical axis of a vehicle lamp based on the ratio. 15.The vehicle lamp control method according to claim 14, wherein theobtaining the acceleration information comprises obtaining a summedangle including a first angle and a second angle from the accelerationinformation, the summed angle being an inclination angle of the vehiclewith respect to a horizontal plane, the first angle being an inclinationangle of a road surface with respect to the horizontal plane, and thesecond angle being an inclination angle of the vehicle with respect tothe road surface.
 16. The vehicle lamp control method according to claim14 further comprising obtaining an inclination angle of the vehicle withrespect to a road surface based on the variation in the ratio betweenthe temporal change amount of the vehicle longitudinal directionacceleration and the temporal change amount of the vehicle verticaldirection acceleration.
 17. A method of controlling a part of thevehicle, comprising: determining a temporal change amount of a vehiclelongitudinal direction acceleration and a temporal change amount of avehicle vertical direction acceleration detected by an accelerationsensor during at least one of an acceleration and a deceleration of avehicle; calculating information on a vehicle angle based on a ratiobetween the temporal change amount of the vehicle longitudinal directionacceleration and the temporal change amount of the vehicle verticaldirection acceleration; and adjusting the part of the vehicle based onthe information on the vehicle angle.
 18. The method according to claim17, wherein the part of the vehicle is a vehicle lamp, and an opticalaxis of the vehicle lamp is adjusted based on the information on thevehicle angle.